2006 Toyota Tundra towing capacity question

I have twice over the years towed very close to my limits. It's doable, it's safe so long as you mind the limits, but there are limitations. It really doesn't matter what you are towing with or what you're towing, the closer you get to your limits the less pleasant your towing experience will be. For the short term I think you're Tundra will be fine with that Roo. It certainly won't be unsafe. But I think even for the short drives you'll be thinking about a bigger TV after the first year.